Strapping a piece of steel to your body will never be comfortable, the question is, how much discomfort am I willing to tolerate. For long drives I now OC. I got into the habit of setting my G19 in the seat beside me, but I had a blowout and in my haste to inspect my truck, left it in the seat. If someone would have pulled off to rob me, I don't think they would have waited for me to get my pistol before they produced their own. Church is the longest I sit at a time and I welcome the discomfort then because it helps keep me awake.
I say all that to say this, G19 works fine for me most of the time. If I'm feeling like a wuss, I may go down to my LCR. You just have to decide what level of discomfort you are willing to put up with.